STM32F4 CAN1 CAN2中断接收数据

CAN1总线发送，中断接收。
平台：STM32F405RGT6、标准库。

CAN1配置

void CAN1_Mode_Init(u8 mode)
{
  	GPIO_InitTypeDef GPIO_InitStructure; 
	CAN_InitTypeDef        CAN_InitStructure;
  	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
   	NVIC_InitTypeDef  NVIC_InitStructure;

    //使能相关时钟
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟	                   											 
  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟	
	
    //初始化GPIO
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
    GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
	
	//引脚复用映射配置
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
	  
  	//CAN单元设置
   	CAN_InitStructure.CAN_TTCM=DISABLE;	//非时间触发通信模式   
  	CAN_InitStructure.CAN_ABOM=DISABLE;	//软件自动离线管理	  
  	CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
  	CAN_InitStructure.CAN_NART=ENABLE;	//禁止报文自动传送 
  	CAN_InitStructure.CAN_RFLM=DISABLE;	//报文不锁定,新的覆盖旧的  
  	CAN_InitStructure.CAN_TXFP=DISABLE;	//优先级由报文标识符决?
	 
/***************************************************************************************/		
    //配置can工作模式	
  	CAN_InitStructure.CAN_Mode= mode;	 //模式设置 
		//CAN初始化
		//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
		//tbs2:时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
		//tbs1:时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
		//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
		//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
		//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
		//Fpclk1的时钟在初始化的时候设置为42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
		//则波特率为:42M/((6+7+1)*6)=500Kbps
		//返回值:0,初始化OK;
		//    其他,初始化失败; 
		/* // 100K
  	CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=CAN_BS1_7tq; //时间段1的时间单元.  Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=CAN_BS2_6tq; //时间段2的时间单元.  Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=6;  //分频系数(Fdiv)为brp+1	
		*/
		
		/* // 50K
  	CAN_InitStructure.CAN_SJW=CAN_SJW_3tq;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=CAN_BS1_6tq; //时间段1的时间单元.  Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元.  Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=84;  //分频系数(Fdiv)为brp+1	
		*/
		
		 // 25K
  	CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=CAN_BS1_6tq; //时间段1的时间单元.  Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元.  Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=210;  //分频系数(Fdiv)为brp+1	
				
		
		 /*// 20K
  	CAN_InitStructure.CAN_SJW=CAN_SJW_3tq;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=CAN_BS1_6tq; //时间段1的时间单元.  Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元.  Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=210;  //分频系数(Fdiv)为brp+1	
		*/
		
		/* // 10K
  	CAN_InitStructure.CAN_SJW=CAN_SJW_3tq;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=CAN_BS1_6tq; //时间段1的时间单元.  Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=CAN_BS2_2tq; //时间段2的时间单元.  Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=420;  //分频系数(Fdiv)为brp+1	
		*/
		
/***************************************************************************************/			
  	CAN_Init(CAN1, &CAN_InitStructure);   // 初始化CAN1 
    
		//配置过滤器
 	CAN_FilterInitStructure.CAN_FilterNumber=0;	  //过滤器0
  	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
  	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
  	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32位ID
  	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
  	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
  	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
  	CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
		
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.		    
  
  	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
}   

CAN1发送函数

u8 CAN1_Send_Msg(u8* msg,u8 len)
{	
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;	 // 标准标识符为0
  TxMessage.ExtId=0x12;	 // 设置扩展标示符（29位）
  TxMessage.IDE=0;		   // 使用扩展标识符
  TxMessage.RTR=0;		   // 消息类型为数据帧，一帧8位
  TxMessage.DLC=len;	   // 发送两帧信息
  for(i=0;i<len;i++)
  TxMessage.Data[i]=msg[i];				 // 第一帧信息          
  mbox= CAN_Transmit(CAN1, &TxMessage);   
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;	//等待发送结束
  if(i>=0XFFF)return 1;
  return 0;		
}

CAN1中断服务函数

void CAN1_RX0_IRQHandler(void)
{
	CanRxMsg RxMessage;
	//CAN_Receive(CAN1, 0, &RxMessage);
	CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据	
	led_cnt=0;
	falshCnt=0;
	ledSpeed=FLASH_FAST;
}

代码运行现象：数据3秒发一次，CAN1中断函数收到数据之后LED快闪3次，然后又恢复到1秒1闪。
下面是工程文件，里面还包括CAN2的中断接收函数。
STM32F4 CAN1 CAN2数据收发 中断接收